Streamline submersible vehicle with internal propulsion and a multidirectional thrust vectoring mechanism for steering

ABSTRACT

A streamline submersible vehicle having an internal propulsion system and a multidirectional thrust vectoring mechanism for steering.

STATEMENT OF RELATED APPLICATIONS

This patent application is based on and claims the benefit of U.S.Provisional Patent Application No. 61/321,728 having a filing date of 7Apr. 2010, which is incorporated herein in its entirety by thisreference.

BACKGROUND OF THE INVENTION

1. Technical Field

This invention is generally related to the field of submersible vehiclesand more specifically related to the field of submersible vehicleshaving internal propulsion systems using thrust vectoring mechanisms forsteering.

2. Prior Art

Most high speed submersible vehicles rely on external control surfacesfor steering and exposed propeller blades for propulsion. Such vehiclespose danger to surrounding marine wildlife due to exposed hardware andare often slow maneuvering. Marine vehicles utilizing internalpropulsion do not offer three dimensional (3D) thrust vectoring, and the3D thrust vectoring systems used on jet airplanes have a very complexmechanical structure, are expensive, and difficult to assemble. Thesefactors make them not practical for use on submersible vessels.

To the best of the inventors' knowledge, the specific problem of 3Dthrust vectoring in underwater vehicles with internal propulsion has notyet been addressed. For example, maritime vehicles such as jet skisoffer only 2D thrust vectoring (yaw axis).

Thus, it can be seen that a streamlined submersible vehicle with aninternal propulsion system and a multidirectional thrust vectoringmechanism for steering would be useful, novel and not obvious, and asignificant improvement over the prior art. It is to such a vehicle thatthe current invention is directed.

BRIEF SUMMARY OF THE INVENTION

The invention comprises a vehicle with a fully internal propulsion andsteering system, utilizing a multidirectional (3D) thrust vectoringmechanism for attitude control. The vehicle is highly maneuverable, evenat high speeds, and the smooth hull and lack of exposed hardwareprovides for safe operation around sea animals.

The invention comprises a streamlined hull preferably having noprotruding appendages. The propulsion system and any scientificinstrumentation, cameras, cargo, etcetera are contained completelywithin the hull. The multidirectional thrust vectoring system is locatedat the stern of the vehicle and is controlled by instrumentation andmechanisms contained within the hull. The hull has at least one waterintake located to provide water to the propulsion system. The waterintake can be located on the side of the hull.

In operation, water is taken into the propulsion system through thewater intake and ejected out through the multidirectional thrustvectoring mechanism. When the multidirectional thrust vectoringmechanism is in the neutral position (herein defined as pointingstraight astern relative to an axial line of the vehicle), water beingejected through the multidirectional thrust vectoring mechanism causesthe vehicle to travel in the axial direction forwards (herein defined asalong the z-axis). The multidirectional thrust vectoring mechanism canbe rotated in the yaw axis (x-axis) and the pitch axis (y-axis)directions (about the longitudinal axis or z-axis), thus causing thewater being ejected through the multidirectional thrust vectoring systemto be ejected at an angle to the z-axis, thus inducing steering of thevehicle. As the multidirectional thrust vectoring mechanism can berotated about an entire circle or spherical chord, the vehicle can besteered at any angle relative to the z-axis without the need forexternal rudders, fins, paddles, or propellers.

These and other objects, features, and advantages of the presentinvention will become more apparent to those of ordinary skill in theart when the following detailed description of the preferred embodimentsis read in conjunction with the appended figures.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view of a submersible vehicle in accordance withthe invention.

FIG. 2 is a rear view of the invention as shown in FIG. 1 showing themultidirectional thrust vectoring mechanism.

FIG. 3 is a perspective view of the invention as shown in FIG. 1 showingthe multidirectional thrust vectoring mechanism in a first position.

FIG. 4 is a perspective view of the invention as shown in FIG. 1 showingthe multidirectional thrust vectoring mechanism in a second position.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 is a perspective view of a submersible vehicle in accordance withthe invention having a transparent hull so as to illustrate the internalcomponents. FIG. 2 is a rear view of the invention as shown in FIG. 1showing the multidirectional thrust vectoring mechanism. FIG. 3 is aperspective view of the invention as shown in FIG. 1 showing themultidirectional thrust vectoring mechanism in a first position,specifically, in the neutral position. FIG. 4 is a perspective view ofthe invention as shown in FIG. 1 showing the multidirectional thrustvectoring mechanism in a second position, specifically, a positioncausing the vehicle to turn from the z-axis.

Referring now to FIG. 1, an illustrative embodiment of the invention isshown. The invention comprises a vehicle 10 with a fully internalpropulsion and steering system, utilizing a multidirectional (3D) thrustvectoring mechanism for attitude control. The vehicle is highlymaneuverable, even at high speeds, and the smooth hull 12 and lack ofexposed hardware provides for safe operation around sea animals. Thevehicle 10 is of traditional streamlined shape, but the hull 12 shape isnot a defining parameter of the internal propulsion and steering, andmay be modified without affecting the end result, which is a highlymaneuverable, animal-safe vehicle with no external hardware, such assharp control surfaces (fins) or fast-spinning propeller blades.

The propulsion system 14 and any scientific instrumentation, cameras,cargo, etcetera are contained completely within the hull 12. Themultidirectional thrust vectoring system 16 is located at the stern 18of the vehicle 10 and is controlled by instrumentation and mechanismscontained within the hull 12. The hull 12 has at least one water intake20 located to provide water to the propulsion system 14. The waterintake 20 can be located on the side of the hull 12.

Water is drawn into the aft section 22, by a propulsion thruster 30housed inside the aft section 22, through the water intakes 20, and ispushed out through the multidirectional thrust vectoring mechanism 16.Orienting the multidirectional thrust vectoring mechanism 16 via linearactuators 24 provides steering control of the vehicle 10, includingpitch and yaw control.

Referring now to FIG. 2, a stern view of the vehicle 10 shows themultidirectional thrust vectoring mechanism 16. The multidirectionalthrust vectoring mechanism 16 comprises a truncated partial hollowspheroid 26 mounted in an eyeball manner at the aft section 22 and has aflow channel 28 through which the water is ejected for propulsion. Thepropulsion thruster 30, in this case an internal propeller or fan blade,directs the thrusting water through the multidirectional thrustvectoring mechanism 16, specifically, through the flow channel 28. Inthis view, the truncated hollow spheroid 26 is in the neutral position(that is pointing straight astern) such that water ejected through theflow channel 28 is directed out of the vehicle 10 along the z-axis,causing the thrust to be directed in the z-axis.

Referring now to FIG. 3, a perspective view of the aft section 22 of thevehicle 10 is shown with the multidirectional thrust vectoring mechanism16 in a first position, specifically, pointing astern as in FIG. 2 asdefined by control rods or cables. This view also shows the special andstructural relationship between the multidirectional thrust vectoringmechanism 16 and the propulsion thruster 30 in more detail.

Referring now to FIG. 4, a perspective view of the aft section 22 of thevehicle 10 is shown with the multidirectional thrust vectoring mechanism16 in a second position, specifically, having both a yaw (x-axis) andpitch (y-axis) component. As illustrated in this view, themultidirectional thrust vectoring mechanism 16, and specifically thespheroid 26, has been rotated so as to point slightly to starboard andslightly upwards, which will direct the nose, or fore section, of thevehicle 10 in a starboard and upwards direction relative to thelongitudinal axis (the z-axis), thus steering the vehicle 10 in thatdirection. To achieve this rotation, one or more of the linear actuators24 has been moved. For example, four linear actuators 24 can be attachedto the multidirectional thrust vectoring mechanism 16 at four points,for example at the top (0 degrees), starboard side (90 degrees), bottom(180 degrees), and port side (270 degrees). By moving these linearactuators 24 in various combinations, the multidirectional thrustvectoring mechanism 16 can be rotated about all 360 degrees. To achievefull 3D movement, there should be at least two linear actuators 24.

The linear actuators 24 shown are pushrod-like bars used to actuate themultidirectional thrust vectoring mechanism 16. The linear actuators 24are force transmission elements used to move the multidirectional thrustvectoring mechanism 16. The linear actuators 24 connect themultidirectional thrust vectoring mechanism 16 to motors located in themiddle section of the vehicle 10 (seen as the opaque region in FIG. 1).The linear actuators 24 used in this design are pushrods, but may bereplaced with cables or any other type of force transmission element.The motors inside the middle section of the vehicle 10 can beservomotors and also may be interchanged for something similar. At leasttwo linear actuators 24 are required to actuate the multidirectionalthrust vectoring mechanism 16, and springs or something similar may beused to compensate for the lack of the other actuators. Other types ofkinematic devices for force transmission can be used and the inventionis not limited to the use of linear actuators 24. For instance, pulleysystems using cables or wire, springs, magnetic actuators, and otheractuating devices suitable for force transmission.

When the multidirectional thrust vectoring mechanism 16 is in theneutral position (herein defined as pointing straight astern relative toan axial line of the vehicle as shown in FIGS. 2 and 3), water beingejected through the multidirectional thrust vectoring mechanism 16 causethe vehicle 10 to travel in the axial direction forwards (herein definedas along the longitudinal axis or z-axis). The multidirectional thrustvectoring mechanism 16 can be rotated in the x-axis and the y-axis(about the z-axis), thus causing the water being ejected through themultidirectional thrust vectoring mechanism 16 to be ejected at an angleto the z-axis, creating yaw and pitch, thus causing the vehicle 10 to besteered. As the multidirectional thrust vectoring mechanism 16 can berotated about an entire circle or spherical chord, the vehicle 10 can besteered at any angle relative to the z-axis without the need forexternal rudders, fins, paddles, or propellers.

The propulsion thruster 30 shown is an internal propeller locatedbetween the intake 20 and the multidirectional thrust vectoringmechanism 16. Other thrust generating devices can be used and theinvention is not limited to an internal propeller. For example,centrifugal fans, reciprocating solenoids, and any other such pumping orthrusting device suitable for use in propulsion.

The vehicle 10 as a whole may be safely used around sea animals such aswalruses, seals, and sea lions, whether in captivity or in the wild.This may provide a safe means to study the animal or to performnon-animal related missions, including environmental mapping in denselypopulated marine environments without threatening wildlife.

The vehicle 10 may be deployed into regions densely packed with loosesea weeds or debris, which would easily jam a traditional spinningpropeller or break a control surface, therefore permanently immobilizingthe vehicle. Further, the vehicle 10 is designed to easily pass throughtight openings without risking collision of external hardware withterrain, which would once again cause immobilization. Additionally, thevehicle 10 can be used as a fast and highly maneuverable military vessel(autonomous or remotely controlled) for sea mine scouting or similarmilitary oriented mission.

While the invention has been described in connection with certainpreferred embodiments, it is not intended to limit the spirit or scopeof the invention to the particular forms set forth, but is intended tocover such alternatives, modifications, and equivalents as may beincluded within the true spirit and scope of the invention as defined bythe appended claims.

1. A submersible vehicle as disclosed herein.
 2. A streamlinesubmersible vehicle comprising: a. an internal propulsion mechanism; andb. a multidirectional thrust vectoring mechanism for steering.
 3. Avehicle comprising: a. an internal propulsion mechanism; and b. amultidirectional thrust vectoring mechanism for steering.
 4. Amultidirectional thrust vectoring mechanism for steering vehicles.
 5. Amultidirectional thrust vectoring mechanism for directing thrust.
 6. Amultidirectional thrust vectoring mechanism for directing fluids.